Mixed H∞ and passive consensus sampled-data control for nonlinear systems

• Main Authors: Srimanta Santra, Maya Joby
• Format: Article
• Language: English
• Published: AIP Publishing LLC 2020-01-01
• Series: AIP Advances
• Online Access: http://dx.doi.org/10.1063/1.5135567

This paper studies the consensus problem of a second-order nonlinear multi-agent system with directed topologies. A distributed control protocol is proposed for each agent using the relative states among neighboring agents. A mixed H∞ and passivity-based control is maneuvered to deal the bounded disturbances enduring in the system. Based on the theory of the sampled-data control technique and Lyapunov stability theory, some novel conditions are given to realize the consensus of a class of second-order multi-agent nonlinear systems. A new set of delay dependent sufficient conditions is derived in terms of linear matrix inequalities, which guarantees that all agents asymptotically converge to the convex hull with the prescribed H∞ and passive performance. Finally, an example with simulation results is given to verify the theoretical results.